/*
 * Copyright 2025 The Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 *@file    : pose_local_parameterzation.h
 *@brief   : pose_local_parameterzation
 *@authors : zhanglei
 *@version : v1.0
 *@data    : 2025/9/14
 *
 */
#include "optimizer/pose_local_parameterization.h"
namespace optimizer {

bool PoseLocalParameterization::Plus(const double *x, const double *delta, double *x_plus_delta) const {
    x_plus_delta[0] = x[0] + delta[0];  
    x_plus_delta[1] = x[1] + delta[1]; 
    return true;
}

bool PoseLocalParameterization::ComputeJacobian(const double *x, double *jacobian) const {
    Eigen::Map<Eigen::Matrix<double, 2, 2>> J(jacobian);
    J.setIdentity();
    return true;
}

}